The SDK C++ API provides an object-based interface for controlling/configuring the radar and for processing incoming data. See information describing the core features here, in the earlier C++11 implementation.
As described below, this C++17 implementation additionally includes the source code of a peak finding function - and it is the same functionality that is implemented within the radar firmware to enable Navigation Mode
This version of the SDK was developed on Ubuntu 20.04
sudo apt install build-essential clang g++ protobuf-compiler libprotobuf-dev cmake
Building using CMAKE
This assumes that the SDK has been cloned into ~/iasdk
mkdir ~/build_iasdk cd build_iasdk cmake -DCMAKE_BUILD_TYPE=Release ~/iasdk/cpp_17 make -j
Notes
Preferred compiler for building is Clang V10 but GCC 9.3.x should work
The code uses using statements to make pointer ownership more obvious:
Owner_of is a std::unique_ptr;
Shared_owner is a std::shared_ptr;
Please see utility/Pointer_types.h for a full explanation.
Peak Finding
The class Peak_finder can be used to process FFT data and search for peaks. The algorithm will sub-resolve within radar bins and return a power at a distance in metres on the azmith being checked.
The algorithm implemented here will slide a window over the FFT data moving forwards by the size of the window, when the FFT has risen and then fallen, the peak resolving algorithm is run to sub-resolve the distance.
See Peak_finder.h for the data structure that is generated per azimuth
The navigation_main.cpp is a sample application that will peak search and report back up to ten targets per azimuth.
threshold - Threshold in dB
bins_to_operate_on - Radar bins window size to search for peaks in
start_bin - Start Bin
buffer_mode - Buffer mode should only be used with a staring radar
buffer_length - Buffer Length
max_peaks_per_azimuth - Maximum number of peaks to find in a single azimuth